US8414043B2 - End effector for mobile remotely controlled robot - Google Patents
End effector for mobile remotely controlled robot Download PDFInfo
- Publication number
- US8414043B2 US8414043B2 US12/288,500 US28850008A US8414043B2 US 8414043 B2 US8414043 B2 US 8414043B2 US 28850008 A US28850008 A US 28850008A US 8414043 B2 US8414043 B2 US 8414043B2
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- Prior art keywords
- gear
- end effector
- worm
- fingers
- segment
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- 239000012636 effector Substances 0.000 title claims abstract description 42
- 239000003638 chemical reducing agent Substances 0.000 claims description 30
- 210000000707 wrist Anatomy 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 239000011295 pitch Substances 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 239000013056 hazardous product Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002028 premature Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Definitions
- This invention relates to a mobile, remotely controlled robot, and more particularly to such a mobile, remotely controlled robot with an improved end effector gripper.
- TALON® robot Mobile, remotely controlled robots are becoming increasingly popular for use by the military, SWAT units, and police and fire departments.
- the applicants' TALON® robot for example, includes an arm with an end effecter, several cameras, several antennas, and a deployable mast.
- the end effector is a gripper, e.g. a pair of jaws that can be opened and closed on command to grasp objects such as debris, hazardous material, unexploded ordinance and the like.
- the larger robots even have the capability to grip an injured, downed, person by some personal paraphernalia such as a shirt collar and drag them out of harm's way to safety.
- One problem with large, strong grippers is that larger gears are needed to drive the gripper fingers with sufficient torque to realize a strong grip force.
- the invention results from the realization that a strong yet compact end effector for a mobile, remotely controlled robot can be achieved with a drive subsystem that drives gear segments fixed to respective fingers for increasing the torque applied through the fingers without the normally associated increase in size; and further that a bilateral pivot pin can improve consistency and rigidity of finger operation; and that the end effector compactness can be further improved using a folded motor gear reducer drive (package).
- This invention features an end effector for a mobile, remotely controlled robot including first and second fingers, each finger fixed to a gear segment for rotation therewith, and a drive subsystem driving the gear segments and the associated fingers between open and closed positions.
- the fingers may be gripper fingers.
- the gear segments may be worm gear segments and the drive subsystem may further include a worm for driving the gear segments.
- the gripper finger may be fixed to its associated worm gear segment by a pivot pin on each worm gear segment. Each pivot pin may extend from both sides of its associated gear segment and each gripper finger may have at its proximal end a yoke with upper and lower spaced arms for fixedly engaging the associated pivot pin on either side of its gear segment.
- the worm gear segments may be the same size.
- the worm gear segment may be 60°.
- the drive subsystem may include a folded motor and gear reducer assembly.
- the drive subsystem may include a drive gear, the motor and gear reducer may be in side by side relationship and a first gear on the motor may drive a second gear on one end of the gear reducer and a third gear on the other end of the gear reducer may drive the drive gear.
- the worm may drive the worm gear segments equally, synchronously
- This invention also features an end effector for a mobile, remotely controlled robot including first and second fingers, each finger fixed to a worm gear segment for rotation therewith.
- a worm drives the worm gear segments and the associated fingers between open and closed positions.
- a folded motor and gear reducer gear assembly drives the worm; the worm includes a drive gear.
- the motor and gear reducer are in side by side relationship.
- a first gear on the motor drives a second gear on one end of the gear reducer and a third gear on the other end of the gear reducer drives the drive gear of the worm.
- FIG. 1 a schematic three-dimensional view of conventional mobile, remotely controlled robot including upper and lower arms and an end effector gripper;
- FIG. 2 is a schematic three-dimensional view of an end effector gripper according to this invention.
- FIG. 3 is a schematic top, plan view of the gear drive mechanism for the gripper fingers of FIG. 1 ;
- FIG. 4 is a cross-sectional view along lines 4 - 4 of FIG. 3 ;
- FIG. 5 is a cross-sectional view along lines 5 - 5 of FIG. 3 showing the motor and gear reducer drive package in a folded relationship with the final gear and worm;
- FIG. 6 is a simplified exploded three dimensional view of the folded motor and gear reducer drive package
- FIG. 7 is a schematic top, plan view of a worm gear segment of FIG. 3 ;
- FIG. 8 is a three dimensional view of the worm gear segment of FIG. 7 showing the pivot pin extending from both sides;
- FIG. 9 is a schematic top, plan view of the gripper fingers opened to a full 120°.
- FIG. 1 shows a mobile, remotely controlled robot 10 driven by tracks 12 a and 12 b in accordance with one particular example of a robot in accordance with the subject invention.
- Robot 10 includes deployable mast 14 , camera 16 , light 18 , antennas 20 a and 20 b , and arm assembly 22 .
- Arm assembly 22 includes lower arm 24 and upper arm 26 .
- Lower arm 24 is able to pitch up and down but it does not turn.
- Upper arm 26 pitches with respect to lower arm 24 and is driven by chain drive 28 extending along lower arm 24 .
- Microphone 30 is on upper arm 26 as is gripper 32 which rotates via wrist 34 .
- Gripper camera 36 is typically aimed at gripper 32 .
- Operator control unit 40 is used to wirelessly control robot 10 as is known in the art. The various images captured by the cameras of the robot may be displayed on view screen 41 .
- An end effector 60 includes a pair of fingers 62 , 64 which may include gripper pads 66 , 68 on their inside ends.
- End effector 60 is here shown as a gripper, as an example only, as any number of other functions may be accomplished, e.g. scissors, magnetic holder . . . .
- Each finger 62 and 64 has fixed to its proximal end a yoke 70 , 72 each having two spaced arms 74 , 76 , 78 and 80 (not shown in FIG. 2 ).
- Arms 74 and 76 are attached to opposite ends of pivot pin 82 passing through end effector housing unit 84 .
- Arms 78 and 80 are fixed to opposite ends of pivot pin 86 also passing through housing unit 84 .
- gear segments 88 , 90 which in this case are shown as worm gear segments driven by worm 92 fixed to and driven by shaft 94 .
- worm 92 drives each of the segments 88 and 90 synchronously equally so that fingers 62 and 64 open and close symmetrically, but this is not a necessary limitation of the invention.
- gear segments instead of fill gears the full torque providable by a gear of a given radius may be provided without requiring the space for a complete gear. That is, gear 90 , for example, may be a 60° sector with a 3.125 inch pitch diameter. That means the radius of the gear is roughly half of 3.125 inches or approximately an inch and a half.
- the housing need accommodate only a little more than an inch and a half for each gear segment plus the worm gear. If the full gear were used then the full 3.125 inches would have to be provided for each worm gear, that plus the worm would require a housing of 6 or 7 inches or more. So the torque provided by such a large gear is available without providing for a concomitant larger housing.
- drive gear 96 which may be a spur gear for example.
- Pivot pins 82 and 86 , FIG. 4 are supported in bearings 100 , 102 , and 104 , 106 , respectively, and are fixed to rotate with gear segments 88 and 90 .
- housing or unit 84 Also contained in housing or unit 84 are folded motor and gear reducer sub-assembly 110 (see FIG. 6 ) including motor 112 and gear reducer 114 disposed in adjacent side by side relationship in housing 84 .
- Each of pivot pins 82 and 86 extend beyond their respective gear segments 88 and 90 and housing 84 in both directions in order to attach to the arms 74 and 76 of yoke 70 and arms 78 and 80 of yoke 72 . In this way yokes 70 , 72 and their fingers 62 and 64 as well as grips 66 and 68 at their distal ends are kept more rigid and more accurately aligned even under heavy load.
- Gear reducer 114 includes on shaft 119 a gear 118 at one end which engages with gear 122 on shaft 124 of motor 112 and a second gear 120 on the other end on shaft 121 which engages with drive gear 96 on shaft 94 to drive worm 92 .
- Gear 118 , on shaft 119 , FIG. 6 , of gear reducer 114 meshes with gear 122 on output shaft 124 of motor 112 .
- the ends of motor 112 and gear reducer 114 are mounted in transfer case 116 having a cover 128 .
- the various gears in this folded drive sub assembly are shown as spur gears, but this is only for a preferred embodiment.
- FIG. 7 shows the segmental structure of the gear segments 88 and 90 more specifically in FIG. 7 , where gear segment 88 is shown enlarged and in some detail.
- FIG. 8 shows the same gear segment 88 in a three dimensional view where the bilateral extension of pivot pin 82 can be seen.
- Gear 90 and pivot pin 86 are constructed in exactly the same way.
- FIG. 9 shows that with merely a 60° sector the fingers 62 and 64 can be opened to a full 120°: a full functional range for the grippers.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US12/288,500 US8414043B2 (en) | 2008-10-21 | 2008-10-21 | End effector for mobile remotely controlled robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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US12/288,500 US8414043B2 (en) | 2008-10-21 | 2008-10-21 | End effector for mobile remotely controlled robot |
Publications (2)
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US20100095799A1 US20100095799A1 (en) | 2010-04-22 |
US8414043B2 true US8414043B2 (en) | 2013-04-09 |
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US12/288,500 Active 2030-01-02 US8414043B2 (en) | 2008-10-21 | 2008-10-21 | End effector for mobile remotely controlled robot |
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Cited By (25)
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US20120065780A1 (en) * | 2010-09-15 | 2012-03-15 | Seiko Epson Corporation | Robot |
US20130139636A1 (en) * | 2010-09-28 | 2013-06-06 | Harmonic Drive Systems Inc. | Rotary actuator equipped with sensing mechanism, and joint unit |
US20130140836A1 (en) * | 2013-01-29 | 2013-06-06 | Danuser Llc | Post driver with grappler mechanism |
US20150151433A1 (en) * | 2013-12-02 | 2015-06-04 | Harris Corporation | Compact robotic gripper |
US9149928B2 (en) | 2010-09-15 | 2015-10-06 | Seiko Epson Corporation | Robot |
CN105234949A (en) * | 2015-11-02 | 2016-01-13 | 国网冀北电力有限公司电力科学研究院 | Meter grabbing mechanical hand for meter box grabbing robot for electric meter storage bin |
USD752114S1 (en) * | 2012-06-04 | 2016-03-22 | Caterpillar Work Tools B.V. | Multi-processor and modular wear protection system |
US9505135B1 (en) | 2015-08-28 | 2016-11-29 | Tyco Electronics Corporation | Gripper with conformal spring fingers |
US20170021508A1 (en) * | 2015-07-22 | 2017-01-26 | Cambridge Medical Robotics Limited | Gear packaging for robotic arms |
US20170021506A1 (en) * | 2015-07-22 | 2017-01-26 | Cambridge Medical Robotics Limited | Drive mechanisms for robot arms |
US9718195B1 (en) * | 2016-06-09 | 2017-08-01 | X Development Llc | Cylindrical worm drive robotic gripper |
US9758353B2 (en) * | 2013-12-04 | 2017-09-12 | Innovative Minds, LLC | Wireless controllable carousel independently releasable grapling hooks |
US20180021960A1 (en) * | 2016-07-22 | 2018-01-25 | Cambridge Medical Robotics Limited | Gear packaging for robotic joints |
US9878444B1 (en) | 2016-12-22 | 2018-01-30 | Unger Marketing International, Llc | Reaching and grasping tool with improved gripping heads |
USD809374S1 (en) | 2016-12-22 | 2018-02-06 | Unger Marketing International, Llc | Gripping head |
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US10926404B2 (en) | 2015-07-22 | 2021-02-23 | Cmr Surgical Limited | Gear packaging for robot arms |
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US11254015B2 (en) | 2019-09-24 | 2022-02-22 | Thermo Crs Ltd. | Multi-axis gripper for lab automation robot |
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US8141924B2 (en) * | 2008-12-29 | 2012-03-27 | Foster-Miller, Inc. | Gripper system |
US9258975B2 (en) * | 2011-04-28 | 2016-02-16 | Technologies Holdings Corp. | Milking box with robotic attacher and vision system |
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US20150119652A1 (en) * | 2013-10-31 | 2015-04-30 | Elwha LLC, a limited liability company of the State of Delaware | Telemedicine visual monitoring device with structured illumination |
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